The invention belongs to the technical field of aircraft landing, and particularly relates to an automatic foot stool adjusting method during landing of an unmanned aerial vehicle. The central processing unit receives data of a laser range finder and a gravity sensor which are connected to the tail end of each foot stool; the laser range finder is used for measuring the vertical distance between the tripod and the ground in real time, and the gravity sensor is used for acquiring the current pitch angle and roll angle data of the unmanned aerial vehicle; the central processing unit determines the inclination angle of the unmanned aerial vehicle relative to the horizontal plane according to the received data and outputs a control signal to the lead screw drivers connected with the foot stools to guide the foot stools to stretch out and draw back independently to adjust the lengths of the foot stools. The inclination angle of the unmanned aerial vehicle relative to the horizontal plane is accurately calculated by using data acquired by the laser range finder and the gravity sensor and combining with the processing unit. The processing unit outputs a control signal to the lead screw driver to guide each foot stool to independently stretch out and draw back to adjust the length, and therefore stable landing on various complex terrains is achieved.
本发明属于航空器降落技术领域,具体是涉及一种无人机降落时的脚架自动调节方法。中央处理单元通过接收连接至每个脚架末端的激光测距仪和重力感应传感器的数据;激光测距仪用于实时测量脚架与地面的垂直距离,重力感应传感器用于获取无人机当前的俯仰角和滚转角数据;中央处理单元根据所接收的数据,确定无人机相对于水平面的倾斜角度,并输出控制信号至各个脚架相连的丝杠驱动器,指导脚架各自独立地伸缩调节脚架长度。通过利用激光测距仪和重力感应传感器获取的数据,结合处理单元对无人机相对水平面的倾斜角度进行精确计算。该处理单元输出控制信号至丝杠驱动器,指导每个脚架独立地伸缩调节长度,从而实现在各种复杂地形上的稳定降落。
Automatic foot stool adjusting method during landing of unmanned aerial vehicle
一种无人机降落时的脚架自动调节方法
2024-04-26
Patent
Electronic Resource
Chinese
IPC: | B64U |
Foot stool for unmanned aerial vehicle and unmanned aerial vehicle
European Patent Office | 2024
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